CN115237161B - Visual alignment control system and method - Google Patents
Visual alignment control system and method Download PDFInfo
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- CN115237161B CN115237161B CN202211150625.7A CN202211150625A CN115237161B CN 115237161 B CN115237161 B CN 115237161B CN 202211150625 A CN202211150625 A CN 202211150625A CN 115237161 B CN115237161 B CN 115237161B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/30108—Industrial image inspection
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Abstract
The invention relates to the technical field of control systems, in particular to a visual alignment control system and a visual alignment control method, which comprise the following steps: the control terminal is a main control end of the system and is used for sending out an execution command; the configuration module is used for configuring and installing a camera on the product alignment and lamination equipment; the transfer bin body is used for placing a product to be aligned and attached; the heating unit is used for heating the product; the mechanical arm module is arranged at the input end and the output end of the alignment and lamination equipment and used for grabbing products to be placed at the input end and the output end of the alignment and lamination equipment; the system can perform two times of position correction during the process of performing position alignment and lamination on the product by the operation of the position alignment and lamination equipment, so that the product is accurate in relative position during the process of performing position alignment and lamination, and the secondary position alignment configuration product is positioned in the process of transmitting on the position alignment and lamination equipment before the primary position alignment configuration and the product position alignment and lamination, so that the effectiveness of the product in position alignment and lamination adjustment is ensured by the position correction configuration.
Description
Technical Field
The invention relates to the technical field of control systems, in particular to a visual alignment control system and a visual alignment control method.
Background
The alignment laminating equipment is a laminating machine, which comprises a unreeling device, a gluing device, a conveying and pressurizing device, a driving motor and other large mechanical parts.
Present counterpoint laminating equipment is mostly participated in through semi-automatization's manual work, adopts mechanical equipment to adjust the position of required counterpoint laminating product and laminates, because artifical the participation, the counterpoint of product laminates the existence error of certain degree, and only can reduce the error through constantly practising repeatedly to accumulate the operation experience, and its process time is comparatively long, and can't eliminate the error completely or can't hundredth percent control error be in the allowed error range.
Disclosure of Invention
Solves the technical problem
In view of the above-mentioned drawbacks of the prior art, the present invention provides a system and a method for controlling visual alignment, which solves the technical problems mentioned in the background art.
Technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, a visual alignment control system, comprising:
the control terminal is a main control end of the system and is used for sending out an execution command;
the configuration module is used for configuring and installing a camera on the product alignment and lamination equipment;
the transfer bin body is used for placing a product to be aligned and attached;
the heating unit is used for heating the product;
the mechanical arm module is arranged at the input end and the output end of the alignment laminating equipment and used for grabbing products to be placed at the input end and the output end of the alignment laminating equipment;
the thermal imaging module is used for sensing thermal imaging image data of the product;
the position correcting module is used for correcting and rectifying the initial position of the product;
the drive module is used for controlling and adjusting the spatial position of a product at the output end of the alignment laminating equipment;
the transfer storehouse body is provided with two sets of, arranges the output and the input side of counterpoint laminating equipment in respectively, and when counterpoint laminating equipment operated, drive counterpoint laminating equipment operation after required laminating product was placed to counterpoint laminating equipment output and input position respectively.
Still further, the configuration module is provided with sub-modules at a lower level, including:
the electric sliding rail module is used for driving the camera to move on the surface of the alignment laminating equipment;
the selection unit is used for selecting the installation position of the camera on the alignment laminating equipment;
the adjusting unit is used for adjusting the height of the camera on the surface of the alignment laminating equipment;
the configuration module is provided with two sets of cameras, the two sets of cameras are configured in the adjusting unit, the adjusting unit is used for synchronously adjusting the horizontal height, one set of cameras are driven to run through the electric sliding rail module, the cameras which run under the control of the electric sliding rail module run along with the products which are transmitted on the alignment and lamination equipment through the electric sliding rail module, the other set of cameras are fixedly installed at the input end of the alignment and lamination equipment, the fixedly installed cameras capture the product image data which are transmitted by the alignment and lamination equipment, and the reference image data are used for adjusting the distance between the cameras and the products to the limit position of the products in the full-view state through the adjusting unit.
Furthermore, the transfer bin body is provided with sub-modules at a lower level, including:
the refrigeration unit is used for cooling the mechanical arm module;
the refrigeration unit is started and operated synchronously with the heating unit, and the refrigeration unit is closed after the heating unit is closed.
Furthermore, the heating temperature of the heating unit is 31-41 ℃, and the cooling temperature of the cooling unit is 1~5 ℃.
Furthermore, the thermal imaging module is installed on the surface of the grabbing end of the mechanical arm module, and thermal imaging image data obtained by the operation of the thermal imaging module is sent to the lower-level sub-module of the position correction module in real time and is transmitted to the position correction module after the operation processing of the lower-level sub-module of the position correction module.
Furthermore, a sub-module is arranged at the lower stage of the calibration module, and comprises:
a grid unit for setting a grid image as a thermal imaging image data reference background;
the measuring and calculating unit is used for measuring and calculating a proportional value between the thermal imaging image data and the product entity in real time;
the calculation unit is used for calculating the error values of the thermal imaging image data of the output end product and the input end product of the alignment laminating equipment in the grid unit;
the calculating unit further calculates by using the error value of the thermal imaging image data and the proportional value obtained by the operation of the measuring and calculating unit to obtain an actual error value, and the actual error value is output by the calculating unit position correcting module.
Furthermore, after the input end of the alignment laminating equipment is connected with a product, image data error recognition is synchronously performed through a sub-module at the lower level of the position correcting module, an error recognition result is sent to the driving module, and the driving module performs space position adjustment on the product at the output end of the alignment laminating equipment according to the error recognition result.
Furthermore, the control terminal is electrically connected with a configuration module through a medium, the configuration module is electrically connected with an electric slide rail module, a selection unit and an adjusting unit through the medium, the configuration module is electrically connected with a transfer bin body through the medium, the transfer bin body is isomorphic and electrically connected with a heating unit and a refrigerating unit, the transfer bin body is electrically connected with a mechanical arm module through the medium, the mechanical arm module is electrically connected with a thermal imaging module through the medium, the mechanical arm module is electrically connected with a position correcting module and a driving module through the medium, the position correcting module is electrically connected with a grid unit, a measuring and calculating unit and a calculating unit through the medium, and the driving module and the thermal imaging module are connected with the grid unit, the measuring and calculating unit and the calculating unit through the medium.
In a second aspect, a visual alignment control method includes the steps of:
step 1: respectively deploying a cabin body at the output end and the input end of the alignment laminating equipment to store a laminating product and a laminated product which need to be aligned and laminated;
step 2: heating a bonded product and a bonded product stored in a bin body, arranging thermal imaging equipment on alignment bonding equipment, and acquiring thermal imaging image data of the bonded product and the bonded product placed at the output end and the input end of the alignment bonding equipment before the alignment bonding equipment runs;
and step 3: respectively configuring an input end of a camera on the alignment laminating equipment and a product transmission thread on the alignment laminating equipment, wherein the camera on the product transmission thread moves synchronously along with the product transmission;
and 4, step 4: setting an electronic grid, transmitting thermal imaging image data corresponding to the output end and the input end of alignment laminating equipment acquired by thermal imaging equipment to the electronic grid, performing image data error calculation by referring to the electronic grid, and performing position deviation correction on a laminated product and a laminated product according to an error calculation result;
and 5: the output end of the alignment laminating equipment acquired by the camera and the image data acquired by the product transmission thread in real time are transmitted to the electronic grid, image data error calculation is carried out by referring to the electronic grid, and the position of the laminated product laid at the output end of the alignment laminating equipment is corrected according to the error calculation result.
Further, the electronic grid specification in the step 4 is (X.1 um) · (X.1 um);
wherein X is the arrangement number of grids in the longitudinal and transverse directions.
Advantageous effects
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
1. the invention provides a visual alignment control system, which can perform two times of alignment in the process of aligning and laminating products by the operation of alignment and lamination equipment, so as to ensure that the relative position of the products is accurate when the alignment and lamination process is performed, wherein the secondary alignment configuration products are positioned in the process of transmitting on the alignment and lamination equipment before the primary alignment configuration and the product alignment and lamination, and the effectiveness of the alignment and lamination adjustment of the products is ensured by the alignment configuration in such a way, so that the alignment and lamination processing of the products is more accurate.
2. When the system operates to align and paste the product, the proofreading processing of two different types of image data, namely the image data and the thermal imaging image data, is respectively adopted, so that the conventional logic of the product position correction processing in the prior art is eliminated, and the position correction value required by the product position correction is more reliable.
3. The invention provides a visual alignment control method, which can further maintain the stability of system operation through the execution of steps in the method, thereby reducing the starting difficulty of the system when the system is used by a user, and can universally adapt to most alignment and lamination use scenes by setting and confirming the applicable adjustment precision of the system and the method in the use process.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of a vision alignment control system;
FIG. 2 is a flow chart of a visual alignment control method;
the reference numerals in the drawings represent: 1. a control terminal; 2. a configuration module; 21. an electric slide rail module; 22. a selection unit; 23. an adjustment unit; 3. a transfer bin body; 31. a heating unit; 32. a refrigeration unit; 4. a mechanical arm module; 41. a thermal imaging module; 5. a position correcting module; 51. a grid cell; 52. a measuring and calculating unit; 53. a calculation unit; 6. and a driving module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The present invention will be further described with reference to the following examples.
Example 1
The vision alignment control system of the present embodiment, as shown in fig. 1, includes:
the control terminal 1 is a main control end of the system and is used for sending out an execution command;
the configuration module 2 is used for configuring and installing a camera on the product alignment and lamination equipment;
the transfer bin body 3 is used for placing a product to be aligned and attached;
a heating unit 31 for heating the product;
the mechanical arm module 4 is arranged at the input end and the output end of the alignment laminating equipment and used for grabbing products to be placed at the input end and the output end of the alignment laminating equipment;
the thermal imaging module 41 is used for sensing thermal imaging image data of the product;
the position correcting module 5 is used for correcting and rectifying the initial position of the product;
the driving module 6 is used for controlling and adjusting the spatial position of a product at the output end of the alignment laminating equipment;
wherein, the transfer storehouse body 3 is provided with two sets ofly, arranges the output and the input side of counterpoint laminating equipment respectively in, and when counterpoint laminating equipment moves, drive counterpoint laminating equipment operation after required laminating product is placed to counterpoint laminating equipment output and input position respectively.
In this embodiment, control terminal 1 control configuration module 2 operation configuration installation camera is on product counterpoint laminating equipment, before counterpoint laminating equipment operation, the user places required counterpoint laminating product in transit storehouse body 3, and start heating unit 31 and heat the product, then arm module 4 snatchs the product and places input and output at counterpoint laminating equipment, thermal imaging module 41 is synchronous to operate the thermal imaging image data of response product in real time, carry out the proofreading of initial position to the product by proofreading module 5 again and rectify and use drive module 6 to carry out further control regulation spatial position to the product of counterpoint laminating equipment output.
Example 2
In terms of specific implementation, on the basis of embodiment 1, this embodiment further specifically describes the visual alignment control system in embodiment 1 with reference to fig. 1:
as shown in fig. 1, the configuration module 2 is provided with sub-modules at a lower level, including:
the electric slide rail module 21 is used for driving the camera to move on the surface of the alignment and lamination equipment;
a selection unit 22 for selecting an installation position of the camera on the alignment and bonding device;
the adjusting unit 23 is used for adjusting the height of the camera on the surface of the alignment and bonding equipment;
the number of the cameras configured by the configuration module 2 is two, the two groups of cameras are configured in the adjusting unit 23, the adjusting unit synchronously adjusts the horizontal height, one group of cameras are driven to run through the electric sliding rail module 21, the cameras controlled to run through the electric sliding rail module 21 run along with the products transmitted by the alignment and lamination equipment synchronously, the other group of cameras are fixedly installed at the input end of the alignment and lamination equipment, the fixedly installed cameras capture the product image data transmitted by the alignment and lamination equipment, and the reference image data are used for adjusting the distance between the cameras and the products to the limit position of the products in the full-view state through the adjusting unit 23.
The sub-modules in the configuration module 2 control the camera, and the camera can be positioned at a proper distance from a product to be attached when in operation, so that the system is more accurate in operation when the product is attached through the alignment and attachment equipment.
As shown in fig. 1, the transfer cabin 3 is provided with sub-modules at a lower level, including:
the refrigeration unit 32 is used for cooling the mechanical arm module 4;
the refrigeration unit 32 is started and operated synchronously with the heating unit 31, and the refrigeration unit 32 is closed after the heating unit 31 is closed.
As shown in fig. 1, the heating temperature of the heating unit 31 is 31 to 41 degrees celsius, and the cooling temperature of the cooling unit 32 is 1~5 degrees celsius.
As shown in fig. 1, the thermal imaging module 41 is installed on the surface of the grabbing end of the manipulator module 4, and the thermal imaging image data obtained by the operation of the thermal imaging module 41 is sent to the sub-module of the lower stage of the position correcting module 5 in real time and is transmitted to the position correcting module 5 after the sub-module of the lower stage of the position correcting module 5 is processed.
The heating unit 31 and the refrigerating unit 32 provide conditions for the operation of the thermal imaging module 41, so that the thermal imaging image data is corrected for the product to be aligned and attached on the alignment and attachment equipment, and the alignment and attachment effect of the product to be aligned and attached is better;
in addition, the heating and cooling temperatures of the heating unit 31 and the cooling unit 32 are further limited, so that the thermal imaging module 41 can be ensured to operate stably, and meanwhile, the damage to the products needing to be aligned and attached due to temperature change is avoided.
As shown in fig. 1, the calibration module 5 is provided with sub-modules at a lower level, including:
a grid unit 51 for setting a grid image as a thermal imaging image data reference background;
the measuring and calculating unit 52 is used for measuring and calculating the proportional value between the thermal imaging image data and the product entity in real time;
a calculating unit 53, configured to calculate error values of thermal imaging image data of the output end product and the input end product of the alignment and bonding apparatus in the grid unit 51;
the calculating unit 53 further calculates an actual error value by using the error value of the obtained thermal imaging image data and the proportional value obtained by the operation of the calculating unit 52, and the actual error value is output by the calibrating module 5 of the calculating unit 53.
As shown in fig. 1, after the input end of the alignment and bonding device is connected to the product, image data error recognition is synchronously performed through the sub-module of the lower stage of the alignment module 5, an error recognition result is sent to the driving module 6, and the driving module 6 adjusts the spatial position of the product at the output end of the alignment and bonding device according to the error recognition result.
The position of the product further by the position correcting module 5 can be corrected and corrected by the arrangement, and the product required to be aligned and attached is ensured to be aligned and attached more accurately.
As shown in fig. 1, the control terminal 1 is electrically connected with a configuration module 2 through a medium, the configuration module 2 is electrically connected with an electric slide rail module 21, a selection unit 22 and an adjustment unit 23 through a medium, the configuration module 2 is electrically connected with a transfer cabin 3 through a medium, the transfer cabin 3 is electrically connected with a heating unit 31 and a cooling unit 32 through the same medium, the transfer cabin 3 is electrically connected with a robot arm module 4 through a medium, the robot arm module 4 is electrically connected with a thermal imaging module 41 through a medium, the robot arm module 4 is electrically connected with a calibration module 5 and a driving module 6 through a medium, the calibration module 5 is electrically connected with a grid unit 51, a measurement and calculation unit 52 and a calculation unit 53 through a medium, and the driving module 6 and the thermal imaging module 41 are electrically connected with the grid unit 51, the measurement and calculation unit 52 and the calculation unit 53 through a medium.
Example 3
In a specific implementation aspect, on the basis of embodiment 1, this embodiment further specifically describes the visual alignment control system in embodiment 1 with reference to fig. 2:
as shown in fig. 1, the visual alignment control method includes the following steps:
step 1: respectively arranging a bin body at the output end and the input end of the alignment laminating equipment to store a laminating product and a laminated product which need to be aligned and laminated;
step 2: heating a bonded product and a bonded product stored in a bin body, arranging thermal imaging equipment on alignment bonding equipment, and acquiring thermal imaging image data of the bonded product and the bonded product placed at the output end and the input end of the alignment bonding equipment before the alignment bonding equipment runs;
and step 3: respectively configuring an input end of a camera on the alignment laminating equipment and a product transmission thread on the alignment laminating equipment, wherein the camera on the product transmission thread moves synchronously along with the product transmission;
and 4, step 4: setting an electronic grid, transmitting thermal imaging image data corresponding to an output end and an input end of alignment laminating equipment acquired by thermal imaging equipment to the electronic grid, performing image data error calculation by referring to the electronic grid, and performing position deviation correction on a laminating product and a laminated product according to an error calculation result;
and 5: the output end of the alignment laminating equipment acquired by the camera and the image data acquired by the product transmission thread in real time are transmitted to the electronic grid, image data error calculation is carried out by referring to the electronic grid, and the position of the laminated product laid at the output end of the alignment laminating equipment is corrected according to the error calculation result.
Wherein, the specification of the electronic grid in the step 4 is (X.1 um) · (X.1 um);
x is the arrangement number of the grids in the longitudinal and transverse directions.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (7)
1. Visual alignment control system, characterized by, includes:
the control terminal (1) is a main control end of the system and is used for sending out an execution command;
the configuration module (2) is used for configuring and installing a camera on the product alignment and lamination equipment;
the transfer bin body (3) is used for placing a product to be aligned and attached;
a heating unit (31) for heating the product;
the mechanical arm module (4) is arranged at the input end and the output end of the alignment laminating equipment and is used for grabbing products to be placed at the input end and the output end of the alignment laminating equipment;
the thermal imaging module (41) is used for sensing thermal imaging image data of the product;
the position correcting module (5) is used for correcting and rectifying the initial position of the product;
the driving module (6) is used for controlling and adjusting the spatial position of a product at the output end of the alignment and lamination equipment;
the transfer bin body (3) is provided with two groups which are respectively arranged at the output end and the input end side of the alignment and bonding equipment, and when the alignment and bonding equipment runs, products to be bonded are respectively arranged at the output end and the input end of the alignment and bonding equipment and then the alignment and bonding equipment is driven to run;
the configuration module (2) is provided with sub-modules at a lower level, and comprises:
the electric sliding rail module (21) is used for driving the camera to move on the surface of the alignment and lamination equipment;
the selection unit (22) is used for selecting the installation position of the camera on the alignment and lamination equipment;
the adjusting unit (23) is used for adjusting the height of the camera on the surface of the alignment and bonding equipment;
the utility model discloses a configuration module (2) configuration camera quantity is two sets of, and two sets of cameras are disposed in regulating unit (23), carry out the regulation of level through regulating unit (23) in step, wherein a set of camera passes through electronic slide rail module (21) drive operation, follow the product synchronous operation of transmission on the laminating equipment of counterpointing through electronic slide rail module (21) when the camera through electronic slide rail module (21) control operation, another group's camera is at the laminating equipment of counterpointing input position fixed mounting, the product image data that counterpoint laminating equipment transmission passed through is caught to fixed mounting's camera, reference image data is adjusted the camera through regulating unit (23) apart from the product distance to the extreme position under the product full vision state.
2. The visual alignment control system according to claim 1, wherein the lower stage of the transfer cabin (3) is provided with sub-modules, comprising:
the refrigeration unit (32) is used for cooling the mechanical arm module (4);
the refrigeration unit (32) is started and operated synchronously with the heating unit (31), and the refrigeration unit (32) is closed after the heating unit (31) is closed.
3. The visual alignment control system according to claim 2, wherein the heating temperature of the heating unit (31) is 31 to 41 degrees centigrade, and the cooling temperature of the cooling unit (32) is 1~5 degrees centigrade.
4. The visual alignment control system according to claim 1, wherein the thermal imaging module (41) is installed on the surface of the grabbing end of the robot arm module (4), and the thermal imaging image data obtained by the operation of the thermal imaging module (41) is sent to the sub-module at the lower stage of the alignment module (5) in real time and is transmitted to the alignment module (5) after the operation processing of the sub-module at the lower stage of the alignment module (5).
5. Visual alignment control system according to claim 1, wherein said alignment module (5) is provided with sub-modules in the lower level, comprising:
a grid unit (51) for setting a grid image as a thermal imaging image data reference background;
the measuring and calculating unit (52) is used for measuring and calculating the proportional value between the thermal imaging image data and the product entity in real time;
the calculation unit (53) is used for calculating error values of the thermal imaging image data of the output end product and the input end product of the alignment laminating equipment in the grid unit (51);
the calculating unit (53) further calculates by using the error value of the obtained thermal imaging image data and the proportion value obtained by the measuring and calculating unit (52) to obtain an actual error value, and the actual error value is sent to the position correcting module (5) through the calculating unit (53) for output.
6. The visual alignment control system according to claim 1, wherein after the input end of the alignment and bonding device is connected to the product, the sub-modules of the alignment module (5) are used for image data error recognition, the error recognition result is sent to the driving module (6), and the driving module (6) adjusts the spatial position of the product at the output end of the alignment and bonding device according to the error recognition result.
7. The vision alignment control system according to claim 1, wherein the control terminal (1) is electrically connected with a configuration module (2) through a medium, the configuration module (2) is electrically connected with an electric slide rail module (21), a selection unit (22) and an adjustment unit (23) through a medium, the configuration module (2) is electrically connected with a transfer cabin (3) through a medium, the transfer cabin (3) is electrically connected with a heating unit (31) and a cooling unit (32) through a medium, the transfer cabin (3) is electrically connected with a mechanical arm module (4) through a medium, the mechanical arm module (4) is electrically connected with a thermal imaging module (41) through a medium, the mechanical arm module (4) is electrically connected with a calibration module (5) and a driving module (6) through a medium, the calibration module (5) is electrically connected with a grid unit (51), a measurement and calculation unit (52) and a calculation unit (53) through a medium, and the driving module (6) and the thermal imaging module (41) are electrically connected with the grid unit (51), the measurement and the calculation unit (52) through a medium.
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| CN202211150625.7A CN115237161B (en) | 2022-09-21 | 2022-09-21 | Visual alignment control system and method |
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| CN202211150625.7A CN115237161B (en) | 2022-09-21 | 2022-09-21 | Visual alignment control system and method |
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| CN201537803U (en) * | 2009-09-10 | 2010-08-04 | 东莞东聚电子电讯制品有限公司 | A visual turnover laminator |
| TW201502733A (en) * | 2013-07-04 | 2015-01-16 | 鴻海精密工業股份有限公司 | Vision registration system, device and method |
| CN203894506U (en) * | 2014-05-29 | 2014-10-22 | 深圳市中欣科技有限公司 | Alignment structure of visual aligning vacuum full-automatic laminating machine |
| CN205614297U (en) * | 2016-05-06 | 2016-10-05 | 联想(北京)有限公司 | Electronic equipment counterpoint laminating equipment |
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